Commit c35776e2 authored by florent's avatar florent
Browse files

In ChppPlanner::solveOneProblem, test direct path with all validators of device.

parent 8d530376
44. In ChppPlanner::solveOneProblem, test direct path with all validators of device.
43. Added some tests in ChppPlanner::solveOneProblem() for robustness purposes.
42. In ChppPlanner::solveOneProblem, if path is null after calling rdmBuilder return KD_ERROR.
41. Added a method to interrupt the roadmap builder during path planning process.
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......@@ -489,9 +489,7 @@ ktStatus ChppPlanner::solveOneProblem(unsigned int problemId)
CkwsDirectPathShPtr directPath = steeringMethod->makeDirectPath(*initConfig, *goalConfig);
if (directPath) {
double penetration = hppProblem.roadmapBuilder()->penetration();
CkwsValidatorDPCollisionShPtr dpValidator = CkwsValidatorDPCollision::create(hppDevice, penetration);
CkwsDirectPathValidatorSetConstShPtr dpValidator = hppDevice->directPathValidators();
dpValidator->validate(*directPath);
if (directPath->isValid()) {
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